Volume 12, Issue 1 (Journal of Control, V.12, N.1 Spring 2018)                   JoC 2018, 12(1): 53-67 | Back to browse issues page


XML Persian Abstract Print


Download citation:
BibTeX | RIS | EndNote | Medlars | ProCite | Reference Manager | RefWorks
Send citation to:

Nikranjbar A, Valadbeyghi N. Adaptive Trajectory Tracking Control of Dynamics of Nonholonomic Mobile Robot based on Orthogonal Function Approximation Technique. JoC. 2018; 12 (1) :53-67
URL: http://joc.kntu.ac.ir/article-1-481-en.html
1- Islamic Azad Uni, Karaj branch
Abstract:   (8912 Views)

Control methods based on regressor matrix and vector of uncertain variables, are the common approaches in control of nonlinear systems that are successfully extended to mobile robot control applications. To establish the controller in regressor based approaches, rewriting the process model in the parameterized form of regressor with uncertainties is essential. Evidently, this main drawback became a motivation for development of the regressor free control strategies. Controller design principle of the regressor free approaches are based on good estimation of the unknown dynamics by function approximation techniques (FAT). In this study, the systematic trajectory-tracking dynamic control design of nonholonomic mobile robot using (FAT) approach is illustrated. The robot dynamics is estimated using Fourier series approximation using variety of orthogonal basis functions such as Bessel, Laguerre, Chebyshev, and Legendre orthogonal basis functions. The function approximated dynamic of the system compliance with stability requirements is directly used in trajectory tracking control design of nonholonomic mobile robot. The results of the proposed method is compared with the inverse dynamic control method, two main regressor based adaptive inverse dynamics, and passivity based adaptive control approaches. The impressive quality of the performance of FAT based control algorithm is presented.

Full-Text [PDF 825 kb]   (963 Downloads)    
Type of Article: Research paper | Subject: Special
Received: 2017/05/12 | Accepted: 2017/10/8 | Published: 2018/03/3

References
1. [1] Parra-Vega, V., A. Castillo-Tapia, and M. Arteaga-Prez. Regressor-free second order sliding mode control for exponential tracking of constrained robot manipulators. in Robot Motion and Control, 2002. RoMoCo'02. Proceedings of the Third International Workshop on. 2002. IEEE.
2. [2] Chien, M. C. and A. C. Huang. FAT-based adaptive control for flexible-joint robots without computation of the regressor matrix. in Systems, Man and Cybernetics, 2006. SMC'06. IEEE International Conference on. 2006. IEEE.
3. [3] Chien, M. C. and A. C. Huang. Regressor-free adaptive impedance control of flexible-joint robots using FAT. in American Control Conference, 2006. 2006. IEEE.
4. [4] Huang, A.mC., S. C. Wu, and W. F. Ting, A FAT-based adaptive controller for robot manipulators without regressor matrix: theory and experiments. Robotica, 2006. 24(02): p. 205-210.
5. [5] Chien, M. C. and A. C. Huang. FAT-based Adaptive Visual Servoing for Robots with Varying Uncertainties. in Robotics and Automation. 2009.
6. [6] Huang, A. C. and M. C. Chien. Design of a regressor-free adaptive impedance controller for flexible-joint electrically-driven robots. in Industrial Electronics and Applications, 2009. ICIEA 2009. 4th IEEE Conference on. 2009. IEEE.
7. [7] Chien, M.-C. and A. C. Huang, Design of a fat-based adaptive visual servoing for robots with time varying uncertainties. International Journal of Optomechatronics, 2010. 4(2): p. 93-114.
8. [8] Chien, M.-C. and A. C. Huang, A regressor-free adaptive control for flexible-joint robots based on function approximation technique. 2010: INTECH Open Access Publisher.
9. [9] Huang, A. C. and M. C. Chien, Adaptive control of robot manipulators: a unified regressor-free approach. 2010: World Scientific.
10. [10] Chien, M. C. and A. C. Huang, Adaptive impedance controller design for flexible-joint electrically-driven robots without computation of the regressor matrix. Robotica, 2012. 30(01): p. 133-144.
11. [11] Kai, C. Y. and A. C. Huang, A regressor-free adaptive controller for robot manipulators without Slotine and Li's modification. Robotica, 2013. 31(07): p. 1051-1058.
12. [12] Kai, C. Y. and A.-C. Huang, A regressor-free adaptive impedance controller for robot manipulators without Slotine and Li's modification: theory and experiments. Robotica, 2015. 33(03): p. 638-648.
13. [13] Shanta, M. N. T. and N. Z. Azlan, Function approximation technique based sliding mode controller adaptive control of robotic arm with time-varying uncertainties. Procedia Computer Science, 2015. 76: p. 87-94.
14. [14] Ebeigbe, D., T. Nguyen, H. Richter, and D. Simon, Stable Passivity-Based Regressor-Free Adaptive Robot Control. 2017.
15. [15] Izadbakhsh, A., FAT-based robust adaptive control of electrically driven robots without velocity measurements. Nonlinear Dynamics, 2017: p. 1-16.
16. [16] Fierro, R. and F.L. Lewis. Control of a nonholonomic mobile robot: backstepping kinematics into dynamics. in Decision and Control, 1995., Proceedings of the 34th IEEE Conference on. 1995. IEEE.

Add your comments about this article : Your username or Email:
CAPTCHA

Send email to the article author


© 2019 All Rights Reserved | Journal of Control

Designed & Developed by : Yektaweb